/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARACTIONSPEEDLIMITER_H
#define ARACTIONSPEEDLIMITER_H

#include "ariaTypedefs.h"
#include "ArAction.h"

class ArRangeDevice;

/// Action to limit the forwards motion of the robot based on range sensor readings.
/**
   This action uses the sensors to find a maximum forwared speed to travel at; when the range
   sensor (e.g. sonar or laser) detects obstacles closer than the given parameters,
   this action requests that the robot decelerate or stop.
   @ingroup ActionClasses
*/
class ArActionLimiterForwards : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionLimiterForwards(const char *name = "speed limiter", 
				   double stopDistance = 250,
				   double slowDistance = 1000,
				   double slowSpeed = 200,
				   double widthRatio = 1);
  /// Destructor
  AREXPORT virtual ~ArActionLimiterForwards();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                        { return &myDesired; }
#endif
  AREXPORT void setParameters(double stopDistance = 250,
			      double slowDistance = 1000,
			      double slowSpeed = 200,
			      double widthRatio = 1);

  bool getStopped() const { return myLastStopped; } 
  ArPose getLastSensorReadingPos() const { return myLastSensorReadingPos; } 
  const ArRangeDevice* getLastSensorReadingDevice() const { return myLastSensorReadingDev; } 
protected:
  bool myLastStopped;
  double myStopDist;
  double mySlowDist;
  double mySlowSpeed;
  double myWidthRatio;
  ArActionDesired myDesired;
  ArPose myLastSensorReadingPos;
  const ArRangeDevice *myLastSensorReadingDev;
};

#endif // ARACTIONSPEEDLIMITER_H
